EP3540552A4 - Système de travail automatique et procédé de commande correspondant - Google Patents

Système de travail automatique et procédé de commande correspondant Download PDF

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Publication number
EP3540552A4
EP3540552A4 EP17869757.9A EP17869757A EP3540552A4 EP 3540552 A4 EP3540552 A4 EP 3540552A4 EP 17869757 A EP17869757 A EP 17869757A EP 3540552 A4 EP3540552 A4 EP 3540552A4
Authority
EP
European Patent Office
Prior art keywords
control method
working system
automatic working
automatic
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17869757.9A
Other languages
German (de)
English (en)
Other versions
EP3540552A1 (fr
EP3540552B1 (fr
EP3540552B2 (fr
Inventor
Yong Shao
Chang Zhou
Fangshi Liu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=62110419&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP3540552(A4) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from CN201610997071.2A external-priority patent/CN108073164B/zh
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of EP3540552A1 publication Critical patent/EP3540552A1/fr
Publication of EP3540552A4 publication Critical patent/EP3540552A4/fr
Publication of EP3540552B1 publication Critical patent/EP3540552B1/fr
Application granted granted Critical
Publication of EP3540552B2 publication Critical patent/EP3540552B2/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G05D2105/87—Specific applications of the controlled vehicles for information gathering, e.g. for academic research for exploration, e.g. mapping of an area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Environmental Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvester Elements (AREA)
  • Health & Medical Sciences (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Business, Economics & Management (AREA)
EP17869757.9A 2016-11-11 2017-11-13 Système de travail automatique et procédé de commande correspondant Active EP3540552B2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201610997071.2A CN108073164B (zh) 2016-11-11 2016-11-11 自动割草机及其行走方法
CN201611040581 2016-11-11
PCT/CN2017/110743 WO2018086612A1 (fr) 2016-11-11 2017-11-13 Système de travail automatique et procédé de commande correspondant

Publications (4)

Publication Number Publication Date
EP3540552A1 EP3540552A1 (fr) 2019-09-18
EP3540552A4 true EP3540552A4 (fr) 2020-04-22
EP3540552B1 EP3540552B1 (fr) 2022-06-01
EP3540552B2 EP3540552B2 (fr) 2025-01-22

Family

ID=62110419

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17869757.9A Active EP3540552B2 (fr) 2016-11-11 2017-11-13 Système de travail automatique et procédé de commande correspondant

Country Status (4)

Country Link
US (2) US11269349B2 (fr)
EP (1) EP3540552B2 (fr)
CN (3) CN110941270B (fr)
WO (1) WO2018086612A1 (fr)

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WO2019167199A1 (fr) * 2018-02-28 2019-09-06 本田技研工業株式会社 Dispositif de commande, corps mobile et programme
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CN110058590A (zh) * 2019-04-08 2019-07-26 浙江亚特电器有限公司 用于智能割草机的碰撞处理方法
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CN112540600A (zh) * 2019-09-19 2021-03-23 苏州宝时得电动工具有限公司 自移动设备工作区域的边界修正方法及自移动设备
CN112631267B (zh) * 2019-10-09 2023-01-24 苏州宝时得电动工具有限公司 自动行走设备控制方法及自动行走设备
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CN113064417B (zh) * 2019-12-13 2022-11-15 苏州宝时得电动工具有限公司 自移动设备及其工作方法
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Also Published As

Publication number Publication date
EP3540552A1 (fr) 2019-09-18
CN108604098B (zh) 2019-12-13
CN110941270A (zh) 2020-03-31
CN110888437B (zh) 2023-02-21
EP3540552B1 (fr) 2022-06-01
US20190265725A1 (en) 2019-08-29
US11269349B2 (en) 2022-03-08
CN110941270B (zh) 2023-02-17
US20220300008A1 (en) 2022-09-22
EP3540552B2 (fr) 2025-01-22
CN108604098A (zh) 2018-09-28
WO2018086612A1 (fr) 2018-05-17
CN110888437A (zh) 2020-03-17
US12282332B2 (en) 2025-04-22

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